[Dprglist] Assisting PID odometry with an IMU

Murray Altheim murray18 at altheim.com
Fri Jan 22 15:44:05 PST 2021

Oops. Looks like someone beat me to it:

   madgwick_py: A Python implementation of Madgwick's IMU and AHRS algorithm.

I *hate* it when that happens. :-)


On 23/01/21 12:32 pm, Murray Altheim via DPRGlist wrote:
> On 23/01/21 12:17 pm, markus wrote:
>> Hi Murray,
>> attached is the madgwick algorithm which I found to perform quite well
>> for these issues. There is an alternate approach published from
>> Brokking (of balancing robot fame) which you'll find on his website. In
>> my experiments the madgwick algorithm performed better and was easier
>> to tune. Also, it uses quaternions so there's the "cool" factor as well
>> ;)
> Hi Markus,
> Thanks very much for the tip, I'll have a look at the Madgwick code. I'm
> already using a Python Quaternion library in my BNO055 class so I have
> some (limited) familiarity with how they work:
>    https://github.com/ifurusato/ros/blob/master/lib/bno055.py
> As part of my experimentation I'll go ahead and port the Madgwick C
> code (which looks relatively straightforward, works as a filter?) to
> Python and post a reference back to this list.
> ...and as Carl mentioned, I look forward to seeing what others in the
> DPRG have done to handle this kind of issue.
Murray Altheim <murray18 at altheim dot com>                       = =  ===
http://www.altheim.com/murray/                                     ===  ===
                                                                    = =  ===
     In the evening
     The rice leaves in the garden
     Rustle in the autumn wind
     That blows through my reed hut.
            -- Minamoto no Tsunenobu

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